/*
 * RWGPS.hpp
 *
 *  Created on: 04/04/2012
 *      Author: grcanosa
 */

#include <stdio.h>
#include <math.h>
#include <sstream>
#include <iostream>
#include <string>
#include <cstring>

#include <webots/Robot.hpp>
#include <webots/GPS.hpp>

#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>

// %EndTag(MSG_HEADER)%



using namespace std;
using namespace webots;


class RWGPS
{
public:
  RWGPS();
  void init(webots::Robot*,ros::NodeHandle*, string);
  ~RWGPS();

  void iterate();
private:
  double time_step;
  GPS* GPSdev;
  sensor_msgs::NavSatFix ROSGPS;


  ros::NodeHandle* n;
  ros::Publisher pub;

};
